Sökning: "Differential Kinematics"

Hittade 5 uppsatser innehållade orden Differential Kinematics.

  1. 1. Design, Modeling, and Testing of a Force Feedback Haptic Device for Simulated Robot Interaction

    Master-uppsats, Linköpings universitet/Institutionen för systemteknik

    Författare :Patrik Lindström; [2023]
    Nyckelord :Force Feedback; Impedance Control; PD-gain; Dynamic Behavior; Closed-chain; Master-Slave; Parallel Manipulator; Kinematics Redundancy; Mass-Spring-Damper; Position Control; Current Control; Modeling; Design; Joints; Delta robot; Differential Equations; External Torques; Kinematics; Forward Kinematics; Inverse Kinematics; Dynamic Matrices; Jacobian; URDF; Haptics; Haptic Device; Solidworks; CAD; Maxon Motors; EtherCAT; Beckhoff;

    Sammanfattning : Haptic feedback is a growing phenomenon that incorporates the sense of touch through tactile sensations such as vibrations, electrical signals, air pressure, and sound waves or through force feedback, which employs torques and/or forces to replicate the pressure and weight of a simulated object. Utilizing haptic technology establishes a communication bridge between the user and the technical component, enhancing the user's understanding of the technical component's surroundings. LÄS MER

  3. 2. Navigation with variable point of reference for 3DOF differential drive mobile robot

    Master-uppsats, Mälardalens högskola/Akademin för innovation, design och teknik

    Författare :Adlerteg Casper; Sen Adem; [2021]
    Nyckelord :differential drive robot;

    Sammanfattning : In this thesis, a kinematic model for controlling an Omni-directional 3 DOF DDR with an external navigation point is presented. Two different dynamic models for investigating the resulting torque on the three active motors on the robot are also developed and validated. LÄS MER

  4. 3. Event Generators and Light Dark Matter

    Kandidat-uppsats, Lunds universitet/Teoretisk partikelfysik - Geonomgår omorganisation

    Författare :Michal Nowak; [2019]
    Nyckelord :Event Generators; Dark Matter; Particle Kinematics; Particle Scattering; Physics and Astronomy;

    Sammanfattning : Recently, a number of experiments have been proposed with the aim of finding light dark matter. In particular, the proposed LDMX experiment is meant to utilize electron scattering off metal nuclei to excite dark matter emissions. Motivated by this, we construct an event generator for electrons scattering off metal nuclei. LÄS MER

  5. 4. Wheel-terrain contact angle estimation for planetary exploration rovers

    Master-uppsats, Luleå tekniska universitet/Rymdteknik

    Författare :Ria Vijayan; [2018]
    Nyckelord :Contact angle; Side slip angle; Nonlinear Kalman filter; Differential Kinematics; ExoMars BB2; Planetary exploration rovers;

    Sammanfattning : During space missions, real time tele-operation of a rover is not practical because of significant signal latencies associated with inter planetary distances, making some degree of autonomy in rover control desirable. One of the challenges to achieving autonomy is the determination of terrain traversability. LÄS MER

  7. 5. Modelling and Control of a Parallel Kinematic Robot

    Uppsats för yrkesexamina på avancerad nivå, Lunds universitet/Institutionen för reglerteknik

    Författare :Kristofer Rosquist; [2013]
    Nyckelord :Technology and Engineering;

    Sammanfattning : This Master’s Thesis shows how to model the kinematics and forward dynamics for the parallel kinematic robot from ABB, IRB340 FlexPicker, and how to implement the control using software and hardware from B&R Automation. With conventional methods the forward kinematics, inverse kinematics and the kinematics for the velocities and accelerations of the robot are modelled. LÄS MER